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[wpilib] Add/update documentation to PneumaticBase and subclasses (NFC) (#4881)

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Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
This commit is contained in:
Ryan Blue
2023-01-02 13:23:59 -05:00
committed by GitHub
parent 9872e676d8
commit 83f1860047
8 changed files with 722 additions and 47 deletions
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80
wpilibc/src/main/native/include/frc/Compressor.h
View File

@@ -79,31 +79,39 @@ class Compressor : public wpi::Sendable,
bool IsEnabled() const;
/**
* Check if the pressure switch is triggered.
* Returns the state of the pressure switch.
*
* @return true if pressure is low
* @return True if pressure switch indicates that the system is not full,
* otherwise false.
*/
bool GetPressureSwitchValue() const;
/**
* Query how much current the compressor is drawing.
* Get the current drawn by the compressor.
*
* @return The current through the compressor, in amps
* @return Current drawn by the compressor.
*/
units::ampere_t GetCurrent() const;
/**
* Query the analog input voltage (on channel 0) (if supported).
* If supported by the device, returns the analog input voltage (on channel
* 0).
*
* @return The analog input voltage, in volts
* This function is only supported by the REV PH. On CTRE PCM, this will
* return 0.
*
* @return The analog input voltage, in volts.
*/
units::volt_t GetAnalogVoltage() const;
/**
* Query the analog sensor pressure (on channel 0) (if supported). Note this
* is only for use with the REV Analog Pressure Sensor.
* If supported by the device, returns the pressure read by the analog
* pressure sensor (on channel 0).
*
* @return The analog sensor pressure, in PSI
* This function is only supported by the REV PH with the REV Analog Pressure
* Sensor. On CTRE PCM, this will return 0.
*
* @return The pressure read by the analog pressure sensor.
*/
units::pounds_per_square_inch_t GetPressure() const;
@@ -113,34 +121,68 @@ class Compressor : public wpi::Sendable,
void Disable();
/**
* Enable compressor closed loop control using digital input.
* Enables the compressor in digital mode using the digital pressure switch.
* The compressor will turn on when the pressure switch indicates that the
* system is not full, and will turn off when the pressure switch indicates
* that the system is full.
*/
void EnableDigital();
/**
* Enable compressor closed loop control using analog input. Note this is only
* for use with the REV Analog Pressure Sensor.
* If supported by the device, enables the compressor in analog mode. This
* mode uses an analog pressure sensor connected to analog channel 0 to cycle
* the compressor. The compressor will turn on when the pressure drops below
* {@code minPressure} and will turn off when the pressure reaches {@code
* maxPressure}. This mode is only supported by the REV PH with the REV Analog
* Pressure Sensor connected to analog channel 0.
*
* <p>On CTRE PCM, this will enable digital control.
* On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure in PSI to enable compressor
* @param maxPressure The maximum pressure in PSI to disable compressor
* @param minPressure The minimum pressure. The compressor will turn on when
* the pressure drops below this value.
* @param maxPressure The maximum pressure. The compressor will turn off when
* the pressure reaches this value.
*/
void EnableAnalog(units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure);
/**
* Enable compressor closed loop control using hybrid input. Note this is only
* for use with the REV Analog Pressure Sensor.
* If supported by the device, enables the compressor in hybrid mode. This
* mode uses both a digital pressure switch and an analog pressure sensor
* connected to analog channel 0 to cycle the compressor. This mode is only
* supported by the REV PH with the REV Analog Pressure Sensor connected to
* analog channel 0.
*
* The compressor will turn on when \a both:
*
* - The digital pressure switch indicates the system is not full AND
* - The analog pressure sensor indicates that the pressure in the system
* is below the specified minimum pressure.
*
* The compressor will turn off when \a either:
*
* - The digital pressure switch is disconnected or indicates that the system
* is full OR
* - The pressure detected by the analog sensor is greater than the specified
* maximum pressure.
*
* On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure in PSI to enable compressor
* @param maxPressure The maximum pressure in PSI to disable compressor
* @param minPressure The minimum pressure. The compressor will turn on
* when the pressure drops below this value and the pressure switch indicates
* that the system is not full.
* @param maxPressure The maximum pressure. The compressor will turn
* off when the pressure reaches this value or the pressure switch is
* disconnected or indicates that the system is full.
*/
void EnableHybrid(units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure);
/**
* Returns the active compressor configuration.
*
* @return The active compressor configuration.
*/
CompressorConfigType GetConfigType() const;
void InitSendable(wpi::SendableBuilder& builder) override;

99
wpilibc/src/main/native/include/frc/PneumaticHub.h
View File

@@ -13,23 +13,72 @@
#include "PneumaticsBase.h"
namespace frc {
/** Module class for controlling a REV Robotics Pneumatic Hub. */
class PneumaticHub : public PneumaticsBase {
public:
/** Constructs a PneumaticHub with the default ID (1). */
PneumaticHub();
/**
* Constructs a PneumaticHub.
*
* @param module module number to construct
*/
explicit PneumaticHub(int module);
~PneumaticHub() override = default;
bool GetCompressor() const override;
/**
* Disables the compressor. The compressor will not turn on until
* EnableCompressorDigital(), EnableCompressorAnalog(), or
* EnableCompressorHybrid() are called.
*/
void DisableCompressor() override;
void EnableCompressorDigital() override;
/**
* Enables the compressor in analog mode. This mode uses an analog pressure
* sensor connected to analog channel 0 to cycle the compressor. The
* compressor will turn on when the pressure drops below {@code minPressure}
* and will turn off when the pressure reaches {@code maxPressure}.
*
* @param minPressure The minimum pressure. The compressor will turn on when
* the pressure drops below this value.
* @param maxPressure The maximum pressure. The compressor will turn off when
* the pressure reaches this value.
*/
void EnableCompressorAnalog(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) override;
/**
* Enables the compressor in hybrid mode. This mode uses both a digital
* pressure switch and an analog pressure sensor connected to analog channel 0
* to cycle the compressor.
*
* The compressor will turn on when \a both:
*
* - The digital pressure switch indicates the system is not full AND
* - The analog pressure sensor indicates that the pressure in the system is
* below the specified minimum pressure.
*
* The compressor will turn off when \a either:
*
* - The digital pressure switch is disconnected or indicates that the system
* is full OR
* - The pressure detected by the analog sensor is greater than the specified
* maximum pressure.
*
* @param minPressure The minimum pressure. The compressor will turn on when
* the pressure drops below this value and the pressure switch indicates that
* the system is not full.
* @param maxPressure The maximum pressure. The compressor will turn off when
* the pressure reaches this value or the pressure switch is disconnected or
* indicates that the system is full.
*/
void EnableCompressorHybrid(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) override;
@@ -76,6 +125,11 @@ class PneumaticHub : public PneumaticsBase {
uint32_t UniqueId;
};
/**
* Returns the hardware and firmware versions of this device.
*
* @return The hardware and firmware versions.
*/
Version GetVersion() const;
struct Faults {
@@ -103,6 +157,11 @@ class PneumaticHub : public PneumaticsBase {
uint32_t HardwareFault : 1;
};
/**
* Returns the faults currently active on this device.
*
* @return The faults.
*/
Faults GetFaults() const;
struct StickyFaults {
@@ -115,20 +174,60 @@ class PneumaticHub : public PneumaticsBase {
uint32_t HasReset : 1;
};
/**
* Returns the sticky faults currently active on this device.
*
* @return The sticky faults.
*/
StickyFaults GetStickyFaults() const;
/** Clears the sticky faults. */
void ClearStickyFaults();
/**
* Returns the current input voltage for this device.
*
* @return The input voltage.
*/
units::volt_t GetInputVoltage() const;
/**
* Returns the current voltage of the regulated 5v supply.
*
* @return The current voltage of the 5v supply.
*/
units::volt_t Get5VRegulatedVoltage() const;
/**
* Returns the total current drawn by all solenoids.
*
* @return Total current drawn by all solenoids.
*/
units::ampere_t GetSolenoidsTotalCurrent() const;
/**
* Returns the current voltage of the solenoid power supply.
*
* @return The current voltage of the solenoid power supply.
*/
units::volt_t GetSolenoidsVoltage() const;
/**
* Returns the raw voltage of the specified analog input channel.
*
* @param channel The analog input channel to read voltage from.
* @return The voltage of the specified analog input channel.
*/
units::volt_t GetAnalogVoltage(int channel) const override;
/**
* Returns the pressure read by an analog pressure sensor on the specified
* analog input channel.
*
* @param channel The analog input channel to read pressure from.
* @return The pressure read by an analog pressure sensor on the specified
* analog input channel.
*/
units::pounds_per_square_inch_t GetPressure(int channel) const override;
private:

158
wpilibc/src/main/native/include/frc/PneumaticsBase.h
View File

@@ -22,50 +22,194 @@ class PneumaticsBase {
public:
virtual ~PneumaticsBase() = default;
/**
* Returns whether the compressor is active or not.
*
* @return True if the compressor is on - otherwise false.
*/
virtual bool GetCompressor() const = 0;
/**
* Returns the state of the pressure switch.
*
* @return True if pressure switch indicates that the system is full,
* otherwise false.
*/
virtual bool GetPressureSwitch() const = 0;
/**
* Returns the current drawn by the compressor.
*
* @return The current drawn by the compressor.
*/
virtual units::ampere_t GetCompressorCurrent() const = 0;
/** Disables the compressor. */
virtual void DisableCompressor() = 0;
/**
* Enables the compressor in digital mode using the digital pressure switch.
* The compressor will turn on when the pressure switch indicates that the
* system is not full, and will turn off when the pressure switch indicates
* that the system is full.
*/
virtual void EnableCompressorDigital() = 0;
/**
* If supported by the device, enables the compressor in analog mode. This
* mode uses an analog pressure sensor connected to analog channel 0 to cycle
* the compressor. The compressor will turn on when the pressure drops below
* {@code minPressure} and will turn off when the pressure reaches {@code
* maxPressure}. This mode is only supported by the REV PH with the REV Analog
* Pressure Sensor connected to analog channel 0.
*
* On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure. The compressor will turn on
* when the pressure drops below this value.
* @param maxPressure The maximum pressure. The compressor will turn
* off when the pressure reaches this value.
*/
virtual void EnableCompressorAnalog(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) = 0;
/**
* If supported by the device, enables the compressor in hybrid mode. This
* mode uses both a digital pressure switch and an analog pressure sensor
* connected to analog channel 0 to cycle the compressor. This mode is only
* supported by the REV PH with the REV Analog Pressure Sensor connected to
* analog channel 0.
*
* The compressor will turn on when \a both:
*
* - The digital pressure switch indicates the system is not full AND
* - The analog pressure sensor indicates that the pressure in the system
* is below the specified minimum pressure.
*
* The compressor will turn off when \a either:
*
* - The digital pressure switch is disconnected or indicates that the system
* is full OR
* - The pressure detected by the analog sensor is greater than the specified
* maximum pressure.
*
* On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure. The compressor will turn on
* when the pressure drops below this value and the pressure switch indicates
* that the system is not full.
* @param maxPressure The maximum pressure. The compressor will turn
* off when the pressure reaches this value or the pressure switch is
* disconnected or indicates that the system is full.
*/
virtual void EnableCompressorHybrid(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) = 0;
/**
* Returns the active compressor configuration.
*
* @return The active compressor configuration.
*/
virtual CompressorConfigType GetCompressorConfigType() const = 0;
/**
* Sets solenoids on a pneumatics module.
*
* @param mask mask
* @param values values
*/
virtual void SetSolenoids(int mask, int values) = 0;
/**
* Gets a bitmask of solenoid values.
*
* @return values
*/
virtual int GetSolenoids() const = 0;
/**
* Get module number for this module.
*
* @return module number
*/
virtual int GetModuleNumber() const = 0;
/**
* Get a bitmask of disabled solenoids.
*
* @return bitmask of disabled solenoids
*/
virtual int GetSolenoidDisabledList() const = 0;
/**
* Fire a single solenoid shot.
*
* @param index solenoid index
*/
virtual void FireOneShot(int index) = 0;
/**
* Set the duration for a single solenoid shot.
*
* @param index solenoid index
* @param duration shot duration
*/
virtual void SetOneShotDuration(int index, units::second_t duration) = 0;
/**
* Check if a solenoid channel is valid.
*
* @param channel Channel to check
* @return True if channel exists
*/
virtual bool CheckSolenoidChannel(int channel) const = 0;
/**
* Check to see if the masked solenoids can be reserved, and if not reserve
* them.
*
* @param mask The bitmask of solenoids to reserve
* @return 0 if successful; mask of solenoids that couldn't be allocated
* otherwise
*/
virtual int CheckAndReserveSolenoids(int mask) = 0;
/**
* Unreserve the masked solenoids.
*
* @param mask The bitmask of solenoids to unreserve
*/
virtual void UnreserveSolenoids(int mask) = 0;
virtual bool ReserveCompressor() = 0;
virtual void UnreserveCompressor() = 0;
/**
* If supported by the device, returns the raw voltage of the specified analog
* input channel.
*
* This function is only supported by the REV PH. On CTRE PCM, this will
* return 0.
*
* @param channel The analog input channel to read voltage from.
* @return The voltage of the specified analog input channel.
*/
virtual units::volt_t GetAnalogVoltage(int channel) const = 0;
/**
* If supported by the device, returns the pressure read by an analog
* pressure sensor on the specified analog input channel.
*
* This function is only supported by the REV PH. On CTRE PCM, this will
* return 0.
*
* @param channel The analog input channel to read pressure from.
* @return The pressure read by an analog pressure sensor on the
* specified analog input channel.
*/
virtual units::pounds_per_square_inch_t GetPressure(int channel) const = 0;
virtual Solenoid MakeSolenoid(int channel) = 0;
@@ -73,8 +217,22 @@ class PneumaticsBase {
int reverseChannel) = 0;
virtual Compressor MakeCompressor() = 0;
/**
* For internal use to get a module for a specific type.
*
* @param module module number
* @param moduleType module type
* @return module
*/
static std::shared_ptr<PneumaticsBase> GetForType(
int module, PneumaticsModuleType moduleType);
/**
* For internal use to get the default for a specific type.
*
* @param moduleType module type
* @return module default
*/
static int GetDefaultForType(PneumaticsModuleType moduleType);
};
} // namespace frc

92
wpilibc/src/main/native/include/frc/PneumaticsControlModule.h
View File

@@ -13,23 +13,52 @@
#include "PneumaticsBase.h"
namespace frc {
/** Module class for controlling a Cross The Road Electronics Pneumatics Control
* Module. */
class PneumaticsControlModule : public PneumaticsBase {
public:
/** Constructs a PneumaticsControlModule with the default ID (0). */
PneumaticsControlModule();
/**
* Constructs a PneumaticsControlModule.
*
* @param module module number to construct
*/
explicit PneumaticsControlModule(int module);
~PneumaticsControlModule() override = default;
bool GetCompressor() const override;
/**
* Disables the compressor. The compressor will not turn on until
* EnableCompressorDigital() is called.
*/
void DisableCompressor() override;
void EnableCompressorDigital() override;
/**
* Enables the compressor in digital mode. Analog mode is unsupported by the
* CTRE PCM.
*
* @param minPressure Unsupported.
* @param maxPressure Unsupported.
* @see EnableCompressorDigital()
*/
void EnableCompressorAnalog(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) override;
/**
* Enables the compressor in digital mode. Hybrid mode is unsupported by the
* CTRE PCM.
*
* @param minPressure Unsupported.
* @param maxPressure Unsupported.
* @see EnableCompressorDigital()
*/
void EnableCompressorHybrid(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) override;
@@ -40,16 +69,67 @@ class PneumaticsControlModule : public PneumaticsBase {
units::ampere_t GetCompressorCurrent() const override;
/**
* Return whether the compressor current is currently too high.
*
* @return True if the compressor current is too high, otherwise false.
* @see GetCompressorCurrentTooHighStickyFault()
*/
bool GetCompressorCurrentTooHighFault() const;
/**
* Returns whether the compressor current has been too high since sticky
* faults were last cleared. This fault is persistent and can be cleared by
* ClearAllStickyFaults()
*
* @return True if the compressor current has been too high since sticky
* faults were last cleared.
* @see GetCompressorCurrentTooHighFault()
*/
bool GetCompressorCurrentTooHighStickyFault() const;
/**
* Returns whether the compressor is currently shorted.
*
* @return True if the compressor is currently shorted, otherwise false.
* @see GetCompressorShortedStickyFault()
*/
bool GetCompressorShortedFault() const;
/**
* Returns whether the compressor has been shorted since sticky faults were
* last cleared. This fault is persistent and can be cleared by
* ClearAllStickyFaults()
*
* @return True if the compressor has been shorted since sticky faults were
* last cleared, otherwise false.
* @see GetCompressorShortedFault()
*/
bool GetCompressorShortedStickyFault() const;
/**
* Returns whether the compressor is currently disconnected.
*
* @return True if compressor is currently disconnected, otherwise false.
* @see GetCompressorNotConnectedStickyFault()
*/
bool GetCompressorNotConnectedFault() const;
/**
* Returns whether the compressor has been disconnected since sticky faults
* were last cleared. This fault is persistent and can be cleared by
* ClearAllStickyFaults()}
*
* @return True if the compressor has been disconnected since sticky faults
* were last cleared, otherwise false.
* @see GetCompressorNotConnectedFault()
*/
bool GetCompressorNotConnectedStickyFault() const;
bool GetSolenoidVoltageFault() const;
bool GetSolenoidVoltageStickyFault() const;
/** Clears all sticky faults on this device. */
void ClearAllStickyFaults();
void SetSolenoids(int mask, int values) override;
@@ -74,8 +154,20 @@ class PneumaticsControlModule : public PneumaticsBase {
void UnreserveCompressor() override;
/**
* Unsupported by the CTRE PCM.
*
* @param channel Unsupported.
* @return 0
*/
units::volt_t GetAnalogVoltage(int channel) const override;
/**
* Unsupported by the CTRE PCM.
*
* @param channel Unsupported.
* @return 0
*/
units::pounds_per_square_inch_t GetPressure(int channel) const override;
Solenoid MakeSolenoid(int channel) override;

75
wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
View File

@@ -84,37 +84,42 @@ public class Compressor implements Sendable, AutoCloseable {
}
/**
* Get the pressure switch value.
* Returns the state of the pressure switch.
*
* @return true if the pressure is low
* @return True if pressure switch indicates that the system is not full, otherwise false.
*/
public boolean getPressureSwitchValue() {
return m_module.getPressureSwitch();
}
/**
* Get the current being used by the compressor.
* Get the current drawn by the compressor.
*
* @return current consumed by the compressor in amps
* @return Current drawn by the compressor in amps.
*/
public double getCurrent() {
return m_module.getCompressorCurrent();
}
/**
* Query the analog input voltage (on channel 0) (if supported).
* If supported by the device, returns the analog input voltage (on channel 0).
*
* @return The analog input voltage, in volts
* <p>This function is only supported by the REV PH. On CTRE PCM, this will return 0.
*
* @return The analog input voltage, in volts.
*/
public double getAnalogVoltage() {
return m_module.getAnalogVoltage(0);
}
/**
* Query the analog sensor pressure (on channel 0) (if supported). Note this is only for use with
* the REV Analog Pressure Sensor.
* If supported by the device, returns the pressure (in PSI) read by the analog pressure sensor
* (on channel 0).
*
* @return The analog sensor pressure, in PSI
* <p>This function is only supported by the REV PH with the REV Analog Pressure Sensor. On CTRE
* PCM, this will return 0.
*
* @return The pressure (in PSI) read by the analog pressure sensor.
*/
public double getPressure() {
return m_module.getPressure(0);
@@ -125,41 +130,71 @@ public class Compressor implements Sendable, AutoCloseable {
m_module.disableCompressor();
}
/** Enable compressor closed loop control using digital input. */
/**
* Enables the compressor in digital mode using the digital pressure switch. The compressor will
* turn on when the pressure switch indicates that the system is not full, and will turn off when
* the pressure switch indicates that the system is full.
*/
public void enableDigital() {
m_module.enableCompressorDigital();
}
/**
* Enable compressor closed loop control using analog input. Note this is only for use with the
* REV Analog Pressure Sensor.
* If supported by the device, enables the compressor in analog mode. This mode uses an analog
* pressure sensor connected to analog channel 0 to cycle the compressor. The compressor will turn
* on when the pressure drops below {@code minPressure} and will turn off when the pressure
* reaches {@code maxPressure}. This mode is only supported by the REV PH with the REV Analog
* Pressure Sensor connected to analog channel 0.
*
* <p>On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure in PSI to enable compressor
* @param maxPressure The maximum pressure in PSI to disable compressor
* @param minPressure The minimum pressure in PSI. The compressor will turn on when the pressure
* drops below this value.
* @param maxPressure The maximum pressure in PSI. The compressor will turn off when the pressure
* reaches this value.
*/
public void enableAnalog(double minPressure, double maxPressure) {
m_module.enableCompressorAnalog(minPressure, maxPressure);
}
/**
* Enable compressor closed loop control using hybrid input. Note this is only for use with the
* REV Analog Pressure Sensor.
* If supported by the device, enables the compressor in hybrid mode. This mode uses both a
* digital pressure switch and an analog pressure sensor connected to analog channel 0 to cycle
* the compressor. This mode is only supported by the REV PH with the REV Analog Pressure Sensor
* connected to analog channel 0.
*
* <p>The compressor will turn on when <i>both</i>:
*
* <ul>
* <li>The digital pressure switch indicates the system is not full AND
* <li>The analog pressure sensor indicates that the pressure in the system is below the
* specified minimum pressure.
* </ul>
*
* <p>The compressor will turn off when <i>either</i>:
*
* <ul>
* <li>The digital pressure switch is disconnected or indicates that the system is full OR
* <li>The pressure detected by the analog sensor is greater than the specified maximum
* pressure.
* </ul>
*
* <p>On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure in PSI to enable compressor
* @param maxPressure The maximum pressure in PSI to disable compressor
* @param minPressure The minimum pressure in PSI. The compressor will turn on when the pressure
* drops below this value and the pressure switch indicates that the system is not full.
* @param maxPressure The maximum pressure in PSI. The compressor will turn off when the pressure
* reaches this value or the pressure switch is disconnected or indicates that the system is
* full.
*/
public void enableHybrid(double minPressure, double maxPressure) {
m_module.enableCompressorHybrid(minPressure, maxPressure);
}
/**
* Gets the current operating mode of the Compressor.
* Returns the active compressor configuration.
*
* @return true if compressor is operating on closed-loop mode
* @return The active compressor configuration.
*/
public CompressorConfigType getConfigType() {
return m_module.getCompressorConfigType();

91
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
View File

@@ -128,7 +128,7 @@ public class PneumaticHub implements PneumaticsBase {
private final DataStore m_dataStore;
private final int m_handle;
/** Constructs a PneumaticHub with the default id (1). */
/** Constructs a PneumaticHub with the default ID (1). */
public PneumaticHub() {
this(SensorUtil.getDefaultREVPHModule());
}
@@ -256,6 +256,11 @@ public class PneumaticHub implements PneumaticsBase {
return raw & 0xFFFF;
}
/**
* Disables the compressor. The compressor will not turn on until {@link
* #enableCompressorDigital()}, {@link #enableCompressorAnalog(double, double)}, or {@link
* #enableCompressorHybrid(double, double)} are called.
*/
@Override
public void disableCompressor() {
REVPHJNI.setClosedLoopControlDisabled(m_handle);
@@ -266,6 +271,16 @@ public class PneumaticHub implements PneumaticsBase {
REVPHJNI.setClosedLoopControlDigital(m_handle);
}
/**
* Enables the compressor in analog mode. This mode uses an analog pressure sensor connected to
* analog channel 0 to cycle the compressor. The compressor will turn on when the pressure drops
* below {@code minPressure} and will turn off when the pressure reaches {@code maxPressure}.
*
* @param minPressure The minimum pressure in PSI. The compressor will turn on when the pressure
* drops below this value.
* @param maxPressure The maximum pressure in PSI. The compressor will turn off when the pressure
* reaches this value.
*/
@Override
public void enableCompressorAnalog(double minPressure, double maxPressure) {
if (minPressure >= maxPressure) {
@@ -284,6 +299,32 @@ public class PneumaticHub implements PneumaticsBase {
REVPHJNI.setClosedLoopControlAnalog(m_handle, minAnalogVoltage, maxAnalogVoltage);
}
/**
* Enables the compressor in hybrid mode. This mode uses both a digital pressure switch and an
* analog pressure sensor connected to analog channel 0 to cycle the compressor.
*
* <p>The compressor will turn on when <i>both</i>:
*
* <ul>
* <li>The digital pressure switch indicates the system is not full AND
* <li>The analog pressure sensor indicates that the pressure in the system is below the
* specified minimum pressure.
* </ul>
*
* <p>The compressor will turn off when <i>either</i>:
*
* <ul>
* <li>The digital pressure switch is disconnected or indicates that the system is full OR
* <li>The pressure detected by the analog sensor is greater than the specified maximum
* pressure.
* </ul>
*
* @param minPressure The minimum pressure in PSI. The compressor will turn on when the pressure
* drops below this value and the pressure switch indicates that the system is not full.
* @param maxPressure The maximum pressure in PSI. The compressor will turn off when the pressure
* reaches this value or the pressure switch is disconnected or indicates that the system is
* full.
*/
@Override
public void enableCompressorHybrid(double minPressure, double maxPressure) {
if (minPressure >= maxPressure) {
@@ -302,11 +343,23 @@ public class PneumaticHub implements PneumaticsBase {
REVPHJNI.setClosedLoopControlHybrid(m_handle, minAnalogVoltage, maxAnalogVoltage);
}
/**
* Returns the raw voltage of the specified analog input channel.
*
* @param channel The analog input channel to read voltage from.
* @return The voltage of the specified analog input channel.
*/
@Override
public double getAnalogVoltage(int channel) {
return REVPHJNI.getAnalogVoltage(m_handle, channel);
}
/**
* Returns the pressure read by an analog pressure sensor on the specified analog input channel.
*
* @param channel The analog input channel to read pressure from.
* @return The pressure read by an analog pressure sensor on the specified analog input channel.
*/
@Override
public double getPressure(int channel) {
double sensorVoltage = REVPHJNI.getAnalogVoltage(m_handle, channel);
@@ -314,34 +367,70 @@ public class PneumaticHub implements PneumaticsBase {
return voltsToPsi(sensorVoltage, supplyVoltage);
}
/** Clears the sticky faults. */
public void clearStickyFaults() {
REVPHJNI.clearStickyFaults(m_handle);
}
/**
* Returns the hardware and firmware versions of this device.
*
* @return The hardware and firmware versions.
*/
public REVPHVersion getVersion() {
return REVPHJNI.getVersion(m_handle);
}
/**
* Returns the faults currently active on this device.
*
* @return The faults.
*/
public REVPHFaults getFaults() {
return REVPHJNI.getFaults(m_handle);
}
/**
* Returns the sticky faults currently active on this device.
*
* @return The sticky faults.
*/
public REVPHStickyFaults getStickyFaults() {
return REVPHJNI.getStickyFaults(m_handle);
}
/**
* Returns the current input voltage for this device.
*
* @return The input voltage.
*/
public double getInputVoltage() {
return REVPHJNI.getInputVoltage(m_handle);
}
/**
* Returns the current voltage of the regulated 5v supply.
*
* @return The current voltage of the 5v supply.
*/
public double get5VRegulatedVoltage() {
return REVPHJNI.get5VVoltage(m_handle);
}
/**
* Returns the total current (in amps) drawn by all solenoids.
*
* @return Total current drawn by all solenoids in amps.
*/
public double getSolenoidsTotalCurrent() {
return REVPHJNI.getSolenoidCurrent(m_handle);
}
/**
* Returns the current voltage of the solenoid power supply.
*
* @return The current voltage of the solenoid power supply.
*/
public double getSolenoidsVoltage() {
return REVPHJNI.getSolenoidVoltage(m_handle);
}

100
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java
View File

@@ -45,7 +45,7 @@ public interface PneumaticsBase extends AutoCloseable {
void setSolenoids(int mask, int values);
/**
* Gets solenoid values.
* Gets a bitmask of solenoid values.
*
* @return values
*/
@@ -59,9 +59,9 @@ public interface PneumaticsBase extends AutoCloseable {
int getModuleNumber();
/**
* Get the disabled solenoids.
* Get a bitmask of disabled solenoids.
*
* @return disabled list
* @return bitmask of disabled solenoids
*/
int getSolenoidDisabledList();
@@ -80,24 +80,112 @@ public interface PneumaticsBase extends AutoCloseable {
*/
void setOneShotDuration(int index, int durMs);
/**
* Returns whether the compressor is active or not.
*
* @return True if the compressor is on - otherwise false.
*/
boolean getCompressor();
/**
* Returns the state of the pressure switch.
*
* @return True if pressure switch indicates that the system is not full, otherwise false.
*/
boolean getPressureSwitch();
/**
* Returns the current drawn by the compressor in amps.
*
* @return The current drawn by the compressor.
*/
double getCompressorCurrent();
/** Disables the compressor. */
void disableCompressor();
/**
* Enables the compressor in digital mode using the digital pressure switch. The compressor will
* turn on when the pressure switch indicates that the system is not full, and will turn off when
* the pressure switch indicates that the system is full.
*/
void enableCompressorDigital();
/**
* If supported by the device, enables the compressor in analog mode. This mode uses an analog
* pressure sensor connected to analog channel 0 to cycle the compressor. The compressor will turn
* on when the pressure drops below {@code minPressure} and will turn off when the pressure
* reaches {@code maxPressure}. This mode is only supported by the REV PH with the REV Analog
* Pressure Sensor connected to analog channel 0.
*
* <p>On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure in PSI. The compressor will turn on when the pressure
* drops below this value.
* @param maxPressure The maximum pressure in PSI. The compressor will turn off when the pressure
* reaches this value.
*/
void enableCompressorAnalog(double minPressure, double maxPressure);
/**
* If supported by the device, enables the compressor in hybrid mode. This mode uses both a
* digital pressure switch and an analog pressure sensor connected to analog channel 0 to cycle
* the compressor. This mode is only supported by the REV PH with the REV Analog Pressure Sensor
* connected to analog channel 0.
*
* <p>The compressor will turn on when <i>both</i>:
*
* <ul>
* <li>The digital pressure switch indicates the system is not full AND
* <li>The analog pressure sensor indicates that the pressure in the system is below the
* specified minimum pressure.
* </ul>
*
* <p>The compressor will turn off when <i>either</i>:
*
* <ul>
* <li>The digital pressure switch is disconnected or indicates that the system is full OR
* <li>The pressure detected by the analog sensor is greater than the specified maximum
* pressure.
* </ul>
*
* <p>On CTRE PCM, this will enable digital control.
*
* @param minPressure The minimum pressure in PSI. The compressor will turn on when the pressure
* drops below this value and the pressure switch indicates that the system is not full.
* @param maxPressure The maximum pressure in PSI. The compressor will turn off when the pressure
* reaches this value or the pressure switch is disconnected or indicates that the system is
* full.
*/
void enableCompressorHybrid(double minPressure, double maxPressure);
/**
* If supported by the device, returns the raw voltage of the specified analog input channel.
*
* <p>This function is only supported by the REV PH. On CTRE PCM, this will return 0.
*
* @param channel The analog input channel to read voltage from.
* @return The voltage of the specified analog input channel.
*/
double getAnalogVoltage(int channel);
/**
* If supported by the device, returns the pressure (in PSI) read by an analog pressure sensor on
* the specified analog input channel.
*
* <p>This function is only supported by the REV PH. On CTRE PCM, this will return 0.
*
* @param channel The analog input channel to read pressure from.
* @return The pressure (in PSI) read by an analog pressure sensor on the specified analog input
* channel.
*/
double getPressure(int channel);
/**
* Returns the active compressor configuration.
*
* @return The active compressor configuration.
*/
CompressorConfigType getCompressorConfigType();
/**
@@ -111,15 +199,15 @@ public interface PneumaticsBase extends AutoCloseable {
/**
* Check to see if the masked solenoids can be reserved, and if not reserve them.
*
* @param mask The solenoid mask to reserve
* @return 0 if successful, mask of solenoids that couldn't be allocated otherwise
* @param mask The bitmask of solenoids to reserve
* @return 0 if successful; mask of solenoids that couldn't be allocated otherwise
*/
int checkAndReserveSolenoids(int mask);
/**
* Unreserve the masked solenoids.
*
* @param mask The solenoid mask to unreserve
* @param mask The bitmask of solenoids to unreserve
*/
void unreserveSolenoids(int mask);

74
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java
View File

@@ -66,7 +66,7 @@ public class PneumaticsControlModule implements PneumaticsBase {
private final DataStore m_dataStore;
private final int m_handle;
/** Constructs a PneumaticsControlModule with the default id (0). */
/** Constructs a PneumaticsControlModule with the default ID (0). */
public PneumaticsControlModule() {
this(SensorUtil.getDefaultCTREPCMModule());
}
@@ -101,26 +101,67 @@ public class PneumaticsControlModule implements PneumaticsBase {
return CTREPCMJNI.getCompressorCurrent(m_handle);
}
/**
* Return whether the compressor current is currently too high.
*
* @return True if the compressor current is too high, otherwise false.
* @see #getCompressorCurrentTooHighStickyFault()
*/
public boolean getCompressorCurrentTooHighFault() {
return CTREPCMJNI.getCompressorCurrentTooHighFault(m_handle);
}
/**
* Returns whether the compressor current has been too high since sticky faults were last cleared.
* This fault is persistent and can be cleared by {@link #clearAllStickyFaults()}
*
* @return True if the compressor current has been too high since sticky faults were last cleared.
* @see #getCompressorCurrentTooHighFault()
*/
public boolean getCompressorCurrentTooHighStickyFault() {
return CTREPCMJNI.getCompressorCurrentTooHighStickyFault(m_handle);
}
/**
* Returns whether the compressor is currently shorted.
*
* @return True if the compressor is currently shorted, otherwise false.
* @see #getCompressorShortedStickyFault()
*/
public boolean getCompressorShortedFault() {
return CTREPCMJNI.getCompressorShortedFault(m_handle);
}
/**
* Returns whether the compressor has been shorted since sticky faults were last cleared. This
* fault is persistent and can be cleared by {@link #clearAllStickyFaults()}
*
* @return True if the compressor has been shorted since sticky faults were last cleared,
* otherwise false.
* @see #getCompressorShortedFault()
*/
public boolean getCompressorShortedStickyFault() {
return CTREPCMJNI.getCompressorShortedStickyFault(m_handle);
}
/**
* Returns whether the compressor is currently disconnected.
*
* @return True if compressor is currently disconnected, otherwise false.
* @see #getCompressorNotConnectedStickyFault()
*/
public boolean getCompressorNotConnectedFault() {
return CTREPCMJNI.getCompressorNotConnectedFault(m_handle);
}
/**
* Returns whether the compressor has been disconnected since sticky faults were last cleared.
* This fault is persistent and can be cleared by {@link #clearAllStickyFaults()}
*
* @return True if the compressor has been disconnected since sticky faults were last cleared,
* otherwise false.
* @see #getCompressorNotConnectedFault()
*/
public boolean getCompressorNotConnectedStickyFault() {
return CTREPCMJNI.getCompressorNotConnectedStickyFault(m_handle);
}
@@ -153,6 +194,7 @@ public class PneumaticsControlModule implements PneumaticsBase {
return CTREPCMJNI.getSolenoidVoltageStickyFault(m_handle);
}
/** Clears all sticky faults on this device. */
public void clearAllStickyFaults() {
CTREPCMJNI.clearAllStickyFaults(m_handle);
}
@@ -224,6 +266,10 @@ public class PneumaticsControlModule implements PneumaticsBase {
}
}
/**
* Disables the compressor. The compressor will not turn on until {@link
* #enableCompressorDigital()} is called.
*/
@Override
public void disableCompressor() {
CTREPCMJNI.setClosedLoopControl(m_handle, false);
@@ -234,11 +280,25 @@ public class PneumaticsControlModule implements PneumaticsBase {
CTREPCMJNI.setClosedLoopControl(m_handle, true);
}
/**
* Enables the compressor in digital mode. Analog mode is unsupported by the CTRE PCM.
*
* @param minPressure Unsupported.
* @param maxPressure Unsupported.
* @see #enableCompressorDigital()
*/
@Override
public void enableCompressorAnalog(double minPressure, double maxPressure) {
CTREPCMJNI.setClosedLoopControl(m_handle, false);
}
/**
* Enables the compressor in digital mode. Hybrid mode is unsupported by the CTRE PCM.
*
* @param minPressure Unsupported.
* @param maxPressure Unsupported.
* @see #enableCompressorDigital()
*/
@Override
public void enableCompressorHybrid(double minPressure, double maxPressure) {
CTREPCMJNI.setClosedLoopControl(m_handle, false);
@@ -251,11 +311,23 @@ public class PneumaticsControlModule implements PneumaticsBase {
: CompressorConfigType.Disabled;
}
/**
* Unsupported by the CTRE PCM.
*
* @param channel Unsupported.
* @return 0
*/
@Override
public double getAnalogVoltage(int channel) {
return 0;
}
/**
* Unsupported by the CTRE PCM.
*
* @param channel Unsupported.
* @return 0
*/
@Override
public double getPressure(int channel) {
return 0;